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Alternative Human-Robot Interface Technologies
Circle Twelve's DiamondTouch breaks the normal monitor-keyboard-mouse paradigm; it is capable of uniquely identifying by touch multiple users simultaneously. The board itself is embedded with antennas in the horizontal and vertical directions, forming a grid.The antennas transmit signals, and the capacitive coupling of the user to their own separate receiver allows for unique identification. It can also recognize gesture with respect to surface contact area. The DiamondTouch display is forward projected, and available in two standard sizes: 32" or 42" diagonal.
Improved Robot Interfaces for Urban Search and Rescue
Situation awareness (SA) is critical to successfully operate an unmanned vehicle. Since 2003, we have studied multiple systems designed for USAR. We have both designed evaluation methods and produced design guidelines for HRI.
Multi University Research Initiative: SUBTLE
The Situation Understanding Bot Through Language And Environment project, or SUBTLE, is a Multi University Research Initiative in which the UMass Lowell Robotics Lab is taking part. It is a collaboration between multiple universities to design a prototype system that will allow a field commander in any number of contexts to control a robot by providing it similar commands and directives over voice that he or she would provide a human soldier or search and rescue worker.
Variable Geometry Tracked Vehicle (VGTV)
The VGTV is a tele-operated, tethered robot. It is capable of changing its shape, depth rated to 100 feet, and equipped with a color zoom camera, two-way audio, and lights. Sensors and small equipment can be carried by the VGTV into search areas. Our VGTV was used in Biloxi, Mississippi after Hurricane Katrina by Florida Task Force Three. Rescuers were able to search unsafe structures and experience a first person view from the robot.
Visual Control Interface of a Wheelchair Mounted Robotic Arm for Cognitively Impaired Wheelchair Users
The Exact Dynamics' Manus ARM, a 6+2 degree of freedom wheelchair mounted robot arm, is able to function in unstructured environments. However, it is awkwardly controlled through a menu system using a keypad, a joystick or a single switch. These controls are not intuitive or natural because they require a high level of cognitive awareness. Also, the input devices may not correlate well to the user’s physical and cognitive abilities.
Our research investigates visual control of a robot arm. We leverage all of the Manus ARM’s benefits while eliminating its weaknesses. Our vision-based system draws inspiration from people’s innate abilities to see and touch. Because the wheelchair occupant is collocated with the ARM, the occupant's view is the same as a camera mounted over the ARM's shoulder. The occupant selects the desired object using from a flexible interface and touch screen or mouse-emulating joystick. Our goal is to allow the occupant to acquire the object by unfolding the ARM, then reaching and grasping the object in a manner emulating human kinematics. This human-in-the-loop control will provide simpler and effective interaction.
Door Opening Robotic Arm (DORA)
A low cost robot arm system is developed that will increase a person’s accessibility to indoor spaces by unlatching door knobs and door handles. Implemented is a minimized arm configuration for use with a wheelchair or mobile platform and a gripper design that utilizes only a single motor to turn door knobs and door handles. This proof of concept prototype demonstrates how an arm with many degrees of freedom is not required if we target the expectations for its use.
